KR20070108648A - Welding robot remote monitoring and self-diagnosis system of dockyard - Google Patents

Abstract

A welding robot remote monitoring and self-diagnosis system of a dockyard is provided to enable a complicated system to be operated more efficiently, and to perform both a remote monitoring function and a self-diagnosis function. A welding robot remote monitoring and self-diagnosis system of a dockyard comprises a conveyor system(9) for transferring small members to be welded by a conveyor driver(11), a welding robot(6) to which a touch pendant(7) is connected, and which includes a six-axis multi-joint robot and a driver of a trolley added shaft, an operating panel(1) in which a graphic touch panel(2) is installed, and which allows the welding robot and added units to be operated in an automatic or manual mode and provides individual robot systems with functions such as power supply, mode switching, temporary stopping and operation restarting, an ethernet hub(12) connected to the operating panel to exchange data with the operating panel through an interactive ethernet communication, a member shape recognizer(13) connected to the ethernet hub to recognize the shape of the small members, an industrial PC(4) for conducting an interactive communication with various independent systems through ethernet, a robot PLC(3) for sequentially performing operations in the automatic and the manual modes and exchanging digital I/O and register data with the graphic touch panel through ethernet, and a robot controller panel(5) connected to the ethernet hub, operated by the industrial PC during the welding operation, and installed to perform a manual operation when an error occurs, and a conveyor PLC(10) connected to the ethernet hub and performing functions required for operating the conveyor driver.

Description

Welding robot remote monitoring and self-diagnosis system of dockyard}

1 is an overall configuration of the present invention

2 is a screen output of the operation screen according to the present invention

Figure 3 is a screen output of the robot state according to the present invention

4 is a screen output diagram of the first unit state according to the present invention

5 is a screen output of the camera state according to the present invention

6 is a screen output diagram of the robot I / O state according to the present invention

7 is a screen output diagram of the surface state according to the present invention

8 is a screen output diagram of the error screen according to the present invention

9 is a remote monitoring PC screen output according to the present invention

<Description of the symbols for the main parts of the drawings>

1: control panel 2: graphic panel

3: Robot PLC 4: Industrial PC

5: robot controller panel 6: welding robot

7: touch pendant 9: conveyor system

10: conveyor PLC 11: conveyor driving device

12: Ethernet hub 13: member shape recognition device

20: Robot CC-LINK I / O 21: Conveyor Main CC-LINK I / O

22: Conveyor Remote CC-LINK I / O

The present invention relates to a welding robot remote monitoring and self-diagnosis system of the shipyard.

The present invention operates a system composed of several complex welding robots and additional devices (conveyors, camera trolleys, dust collectors, heaters, utilities), etc., which perform a small assembly welding process during a shipyard work process. By promptly and accurately notifying the operator of breakdowns, stoppages, alarms, etc. and displaying the causes and countermeasures on the screen, it is possible to operate complex systems more efficiently. Remote monitoring and screen, work status, production information and various data can be monitored remotely in the office, and the collected production information can be imported to PC without any interface program and analysis and statistical data can be created. Self-diagnosis function can be performed.

Currently, shipyards have a small control panel that controls one welding robot and a remote control panel, a button lamp, an operator panel consisting of a FND module, a button lamp, an operator panel consisting of a small LCD, a GUI screen of an industrial PC in a control room, and an individual controller. Automatic welding of small members is carried out with a series of configurations including a welding robot and an additional device (gantry additional shaft, conveyor, dust collector, etc.) controlled independently.

However, in the conventional welding process, a small number of operators operate several auto carriages or operate welding robots by means of a small control panel and a remote control by means of an individual control system, buttons, lamps, FND modules, small LCDs, and PCs. The GUI screen is configured so that the operator can see the system status only for a very limited set of functions. Therefore, if a problem such as system failure, stoppage, alarm, etc. occurs during the work process of the production line with the existing system, an excessive amount of time is required for the operator to quickly and accurately identify and cope with the cause of the production line. It is a situation that a decrease is caused.

The present invention operates a system composed of several complex welding robots and additional devices (conveyors, camera trolleys, dust collectors, heaters, utilities), etc., which perform a small assembly welding process during a shipyard work process. By promptly and accurately notifying the operator of breakdowns, stoppages, alarms, etc. and displaying the causes and countermeasures on the screen, it is possible to operate complex systems more efficiently. Remote monitoring and screen, work status, production information and various data can be monitored remotely in the office, and the collected production information can be imported to PC without any interface program and analysis and statistical data can be created. To enable the self-diagnosis function It shall be.

To this end, the present invention is a conveyor system that is installed to transfer the small elements for welding through a conveyor drive device consisting of an AC motor, inverter, and the like,

Touch pendant (TP: Touch pendant) consisting of input / output devices (KEY, LED, LCD) and safety devices (emergency stop, deadman switch) is connected and used for the operator to operate individual robot system manually. A welding robot consisting of a six-axis articulated robot with a treadmill and a driving device such as a trolley additional shaft for driving the X- and Y-axes,

When operating a complex device consisting of multiple welding robots and additional systems, the overall system status is displayed on several screens.The system status is identified in real time, and the cause and countermeasures are immediately displayed when the system breaks down, stops, or errors occur. The Graphic Touch Panel is installed to allow the operator to easily operate the entire system. The operator can operate the welding robot and additional devices in automatic and manual mode for the operation of the entire system. Operator board panel installed to provide functions such as power supply, mode switching, pause, restart of individual robot system,

An Ethernet hub connected to the operation panel and installed to communicate data with each other through bidirectional Ethernet communication;

A member shape recognition device connected to the Ethernet hub and installed to recognize the shape of the small member and extract and simultaneously weld seam data, so that the robot can automatically perform the welding process;

It is an integrated control device related to the welding robot as a controller for the operation of the whole system. It is an industrial PC installed to perform two-way communication with several independent systems and Ethernet communication. Robot PLC installed in order to perform the program sequentially and to operate additional devices (camera trolley, dust collector, heater, utility line, etc.) and to perform two-way communication of digital I / O and register data through graphic panel and Ethernet communication. And it is connected to Ethernet hub and is composed of power supply, robot controller, drive drive, welding machine and sensor interface circuit, and it is operated by industrial PC only without using TP during welding operation in actual automatic mode. If not, that is, manual operation when an error such as arcing failure occurs Robot controller panel is installed to perform the work,

The above object is provided by providing a welding robot remote monitoring and self-diagnosis system of a shipyard, which includes a conveyor PLC installed to perform a function required for operating a conveyor driving device connected to the Ethernet hub and transporting small members. To achieve.

The present invention is a conveyor system (9) which is installed to transfer the small elements for welding through the conveyor drive device 11 composed of an AC motor, an inverter, and the like,

Touch Pendant (TP) consisting of input / output devices (KEY, LED, LCD) and safety devices (emergency stop, deadman switch) is connected and installed for the operator to manually operate the individual robot system. And a welding robot 6 composed of a six-axis articulated robot equipped with a welding torch and a driving device such as a trolley additional axis that drives the X and Y axes,

When operating a complex device composed of several welding robots (6) and additional systems, the overall system status is displayed in multiple screens, and the system status is identified in real time to immediately determine the cause and countermeasures in case of system failure, stop, or error. A graphic touch panel (2) is installed to switch to the corresponding screen so that the operator can easily operate the entire system, and the operator can automatically control the welding robot 6 and additional devices to operate the entire system. In addition to operating in the manual mode, the operation panel (1) is installed to provide functions such as power supply, mode switching, pause, restart of the individual robot system,

An Ethernet hub 12 (Ethernet Hub) connected to the operation panel 1 and installed to communicate data with each other through bidirectional Ethernet communication;

Installed in connection with the Ethernet hub 12 and recognizes the shape of the small member to extract and weld the seam (Seam) data at the same time to be installed to enable the robot to automatically perform the welding process of the member shape recognition device ( 13) and,

It is an integrated control device related to the welding robot 6 as a controller for the operation of the whole system. It is an automatic mode and a manual mode with the industrial PC 4 and Ethernet communication installed to perform two-way communication with several independent systems and Ethernet communication. Work processes are programmed in sequence and run sequentially, and operate additional devices (camera trolley, dust collector, heater, utility line, etc.), and interactively transfer digital I / O and register data through graphic panel 2 and Ethernet communication. It is connected to the robot PLC (3) and Ethernet hub (12) which is installed to perform communication. It consists of power supply, robot controller, drive drive, welding machine and sensor interface circuit. It is operated only by the industrial PC (4) without using it. Robot controller panel (5) is installed to perform a manual operation when generated,

It is characterized in that it comprises a conveyor PLC 10 is installed to perform the function required to operate the conveyor drive device 11 to be connected to the Ethernet hub 12 and to transport the small elements.

In the figure, reference numeral 8 denotes an operator, and 14 denotes a small member.

The present invention provides the CC-LINK I / O module to the control panel 1 without directly connecting the I / O contact points such as buttons and lamps of the control panel 1 to the robot PLC 3 to the input / output card of the robot PLC 3. By connecting the robot CC-LINK I / O (20) to control the local I / O contact by simply connecting with one communication cable between them and the robot PLC (3), but the robot PLC (3) Conveyor main CC-LINK I / O (21) for controlling I / O contact points and conveyor remote CC-LINK I / O (22) for controlling I / O contact points between remote PLCs. The connection is installed.

Hereinafter, the components of the present invention will be described in detail.

The present invention will be described in detail with respect to the components of the remote monitoring and self-diagnosis system devised for the operator to efficiently operate a system consisting of several welding robots and additional devices.

The operator panel 1 of the present invention is installed in the center of the structure by the operator to operate the entire system efficiently and used to operate the welding robot 6 and additional devices in the automatic and manual mode. It will be in charge of power supply, mode switching, pause, and job restart.

In addition, when operating a complex device consisting of several welding robots 6 and additional systems, the graphic touch panel 2 may be suddenly stopped due to an operation panel 1 composed of buttons, lamps, etc. Causes the operator to quickly and accurately identify the cause and countermeasures in the event of an error, and by performing two-way communication with the robot PLC 3, the overall system status is displayed on several screens, and the graphic panel having a touch function (2) By enabling the operator to understand the real-time system status, when the system failure, stop, error occurs, the cause and countermeasures are immediately converted to the corresponding screen, so that the operator can easily operate the entire system efficiently.

On the other hand, the robot PLC (3) of the present invention, the operating system of the automatic mode and manual mode by the industrial PC (4) and Ethernet communication in the entire system operation is programmed in sequence, and additionally performed (additional device (camera trolley, dust collector) , Heaters, utility lines, etc.) and at the same time, it is a controller installed to perform two-way communication of digital I / O and register data with the graphic panel 2 and Ethernet communication.

And the provided industrial PC (4) is used as an integrated control device associated with the welding robot (6) in operating the entire system of the present invention is to perform two-way communication with several independent systems and Ethernet communication.

In addition, each robot controller panel 5 is composed of a power supply, a robot controller, a drive drive, a welding machine, and a sensor interface circuit, and is operated only by an industrial PC 4 without using a TP during welding in an actual automatic mode. If the work is not normally performed, that is, if an error such as an arcing failure occurs, the manual work is performed.

The welding robot 6 applied to the present invention is composed of a six-axis articulated robot and a driving device such as a trolley additional axis that drives the X and Y axes, and a welding torch is attached to the end of the welding robot 6. It is.

In addition, the touch pendant 7 (TP: Touch Pendant) connected to the welding robot 6 is used as a robot teaching manipulator and is used not only for the operator to manually operate an individual robot system but also in a detailed mode according to the operation method. In order to control this, the PC / TP mode switching switch on the operation panel (1) must be set to Touch Pendant (TP), and the input / output device (KEY, LED, LCD) and the safety device (emergency) Stop, deadman switch), or the like.

In case of workers, several robots and additional devices are operated, and in case of sudden situation of robots or additional systems, TP, GP, etc. are used to identify the cause and problem and perform the work normally.

And the conveyor system 9 of the present invention is a device for transporting small elements to one of the additional devices of the robot system is configured to allow the operator to operate the conveyor at both ends of the conveyor, these automatic, manual operation of the robot operation panel It is preferable to be able to perform also in (1).

On the other hand, the conveyor PLC 10 of the present invention is a PLC that performs a function required to operate the conveyor driving device 11 for transporting small members and a conveyor driving device 11 composed of an AC motor, an inverter, etc. for driving the conveyor. ) And the like.

In addition, it is possible to recognize the shape of the Ethernet Hub 12 (Ethernet Hub) and the element in order to communicate data with each other through two-way Ethernet communication of the main controllers applied to the present invention, and also seam data. Is extracted and transmitted to the robot controller so that the robot can automatically carry out the welding process. The member CC 13 and the robot PLC 3, the conveyor PLC 10, and the robot CC-LINK I / Remote monitoring and self-diagnosis of the ship's welding robot as components such as O (20) and conveyor main CC-LINK I / O (21) and conveyor remote CC-LINK I / O (22) are equipped It will be able to easily perform.

The present invention is a graphic panel (2) (Graphic Touch Panel), Ethernet hub (12) (Hub) and STP LAN cable, HMI screen (operation screen, system status, power line, sensor status, production status, error status, robot status , Camera, conveyor, communication status, working status), several welding robots 6 integrated with one control system and additional equipment (conveyor, camera trolley additional axis, dust collector, heater, etc.) When a single operator operates a complex system consisting of a robot 6 and additional devices, HMI functions and touching on the operator's operation panel to enable the operator to quickly and accurately grasp the cause and countermeasures in case of accidental line stoppage or failure. Graphic panel (2) of function, complex system consists of several screens, real-time worker can understand the system status, and cause and countermeasures immediately in case of system failure, stop, error Is switched to the side is configured to efficiently operate the entire system is easy operator.

Hereinafter, the states displayed on the graphic panel 2 of the operation panel 1 of the present invention will be described with reference to the accompanying drawings.

2 is a view showing an operation screen, and the operation state of the entire system can be monitored as an operation screen through a graphic panel (2) attached to an operation panel (1) of a workplace and a PC screen of a remote office. This is the default screen to allow.

Figure 3 is a view showing the status of the robot, a screen for monitoring the current status (RUN, STOP, ERROR) of the individual robot system through this screen when operating several robots.

4 is a view showing the state of the first robot of the welding robot 6. When one operator operates several robots, the detailed state of the robot having a problem is quickly and accurately displayed through this screen. It is a screen to identify and solve.

5 is a view showing the state of the camera, and monitors and controls the operating state of the camera trolley driving device and various functions (air fusing, shutter operation, heating, etc.) among the additional devices. Screen.

FIG. 6 shows a state in which the robot I / O state is displayed, and is a screen displayed to monitor the mode, JOB number, and operation state of the limit switch of the individual welding robot 6.

Figure 7 shows the display state showing the surface state and monitors the operation status of the surface plate conveyor drive unit 11 and the functions (advance limit, cylinder, mode, etc.) among the additional devices. This screen is for

8 is an error screen. When the operator operates the entire system, if an accidental line stoppage or failure occurs, the GP screen is switched to an error screen displaying the cause and countermeasures. This is a screen for monitoring to quickly and accurately identify and operate the entire system efficiently.

Figure 9 is a remote monitoring PC screen in the workplace, the operator is attached to the control panel (1), the graphic panel (2) is to monitor the entire system through the GP screen and to perform a control function on some screens, remote office Is configured to monitor the GP screen of the site through PC screen as it is through Ethernet communication. In addition, various data such as system status, error screen, work status, and production information of the production site can be monitored remotely in the office, and the collected production information can be imported to a PC without a separate interface program, and analysis and statistical data can be prepared for remote monitoring (Remote Monitoring) and Self-diagnosis This screen allows you to perform the functions of the system.

Therefore, in the present invention, the operator, the person in charge of the maintenance department, and the developer in the complex system operated in the production site can remotely monitor the information, such as the status of the entire system, working conditions, errors, failures, etc. When a problem occurs, it is equipped with a system self-diagnosis function that displays the cause and countermeasure screen for the problem, so when the problem occurs with the welding robot 6, the system directly informs the worker of the cause and how to cope with it. Remote monitoring and self-diagnosis of welding robots is possible.

Although the above has been illustrated and described with respect to the preferred embodiment of the present invention, the present invention is not limited to the above-described embodiment without departing from the gist of the present invention claimed in the claims, having ordinary skill in the art to which the present invention pertains. Anyone can make various modifications as well as such changes are within the scope of the appended claims.

The present invention operates a system composed of several complex welding robots and additional devices (conveyors, camera trolleys, dust collectors, heaters, utilities), etc., which perform a small assembly welding process during a shipyard work process. By promptly and accurately notifying the operator of breakdowns, stoppages, alarms, etc. and displaying the causes and countermeasures on the screen, it is possible to operate complex systems more efficiently. Remote monitoring and screen, work status, production information and various data can be monitored remotely in the office, and the collected production information can be imported to PC without any interface program and analysis and statistical data can be created. Very good ability to perform self-diagnosis function It is an invention.

Claims (2)

A conveyor system 9 which is installed to convey a small element for welding through a conveyor driving device 11 composed of an AC motor, an inverter, and the like; Touch Pendant (TP) consisting of input / output devices (KEY, LED, LCD) and safety devices (emergency stop, deadman switch) is connected and installed for the operator to manually operate the individual robot system. And a welding robot 6 composed of a six-axis articulated robot equipped with a welding torch and a driving device such as a trolley additional axis that drives the X and Y axes, When operating a complex device composed of several robots and additional systems, the overall system status is composed and displayed on multiple screens, and the system status is identified in real time, and the cause and countermeasures are immediately switched to the corresponding screen when a system failure, stop, or error occurs. Graphical Touch Panel (2) is installed so that the operator can easily operate the whole system.The operator operates the welding robot 6 and additional devices in automatic and manual mode to operate the entire system. And a control panel (1) installed to provide functions such as power supply, mode switching, pausing, and restarting of an individual robot system, An Ethernet hub 12 (Ethernet Hub) connected to the operation panel 1 and installed to communicate data with each other through bidirectional Ethernet communication; Installed in connection with the Ethernet hub 12 and recognizes the shape of the small member to extract the welding seam (Seam) data and at the same time sent to the member shape recognition device installed to enable the robot to automatically perform the welding process ( 13) and, It is an integrated control device related to the welding robot 6 as a controller for the operation of the whole system. It is an automatic mode and a manual mode with the industrial PC 4 and Ethernet communication installed to perform two-way communication with several independent systems and Ethernet communication. Work processes are programmed in sequence and run sequentially, and operate additional devices (camera trolley, dust collector, heater, utility line, etc.), and interactively transfer digital I / O and register data through graphic panel 2 and Ethernet communication. It is connected to the robot PLC (3) and Ethernet hub (12) which is installed to perform communication. It consists of power supply, robot controller, drive drive, welding machine and sensor interface circuit. It is operated only by the industrial PC (4) without using it. Birth and robot control panel (5), which is installed in order to perform manual tasks, The welding of the shipyard, characterized in that it is configured to include a conveyor PLC 10 is installed to perform the function required to operate the conveyor drive device 11 is connected to the Ethernet hub 12 and transport the small elements. Robot remote monitoring and self-diagnosis system. The control panel according to claim 1, wherein an I / O contact such as a button, a lamp, or the like of the operation panel 1 is not directly connected to the input / output card of the robot PLC 3 to the robot PLC 3. Install / O module to connect robot CC-LINK I / O (20) for controlling local I / O contact by simply connecting with one communication cable between them and robot PLC (3). 3) Conveyor PLC (CC-LINK I / O 21) for controlling I / O contact between each other and Conveyor remote CC-LINK I / O (22) for controlling I / O contact between remote PLCs. 10) welding robot remote monitoring and self-diagnosis system of the shipyard, characterized in that connected to the installation.

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